OpenNIPointCloudProvider.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX::ArmarXObjects::OpenNIPointCloudProvider
 * @author     David Schiebener (schiebener at kit dot edu)
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
 
#include <VisionX/components/pointcloud_core/CapturingPointCloudProvider.h>
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/interface/components/RGBDImageProvider.h>
//#include <VisionX/interface/components/Calibration.h>
 
#include <condition_variable>
#include <mutex>
 
#include <Eigen/Geometry>
 
#include <pcl/common/transforms.h>
#include <pcl/io/openni2_grabber.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include <opencv2/opencv.hpp>
 
#include <ArmarXCore/core/time/TimeUtil.h>
 
#include <RobotAPI/interface/components/RobotHealthInterface.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h>
 
#include <Image/IplImageAdaptor.h>
 
namespace visionx
{
 
    /**
         * @class OpenNIPointCloudProviderPropertyDefinitions
         * @brief
         */
    class OpenNIPointCloudProviderPropertyDefinitions :
        public CapturingPointCloudProviderPropertyDefinitions
    {
    public:
        OpenNIPointCloudProviderPropertyDefinitions(std::string prefix) :
            CapturingPointCloudProviderPropertyDefinitions(prefix)
        {
            defineOptionalProperty<Eigen::Vector2i>("dimensions", Eigen::Vector2i(640, 480), "")
                .map("320x240", Eigen::Vector2i(320, 240))
                .map("640x480", Eigen::Vector2i(640, 480))
                .map("800x600", Eigen::Vector2i(800, 600))
                .map("1280x1024", Eigen::Vector2i(1280, 1024))
                .map("1600x1200", Eigen::Vector2i(1600, 1200));
 
            defineOptionalProperty<std::string>("depthCameraCalibrationFile",
                                                "VisionX/camera_calibration/asus_xtion_depth.yaml",
                                                "");
            defineOptionalProperty<std::string>(
                "RGBCameraCalibrationFile", "VisionX/camera_calibration/asus_xtion_rgb.yaml", "");
 
            defineOptionalProperty<bool>("EnableAutoExposure", true, "enable auto exposure.");
            defineOptionalProperty<bool>(
                "EnableAutoWhiteBalance", true, "enable auto white balance.");
 
            defineOptionalProperty<std::string>(
                "ReferenceFrameName", "DepthCamera", "Optional reference frame name.");
            defineOptionalProperty<std::string>("OpenNIDeviceId",
                                                "",
                                                "Device id of the openni device, e.g. empty for "
                                                "first device, or index in the format #n, e.g. 0");
            defineOptionalProperty<float>(
                "CaptureTimeOffset",
                16.0f,
                "In Milliseconds. Time offset between capturing the image on the hardware and "
                "receiving the image in this process.",
                armarx::PropertyDefinitionBase::eModifiable);
            defineOptionalProperty<std::string>(
                "RobotHealthTopicName", "RobotHealthTopic", "Name of the RobotHealth topic");
            defineOptionalProperty<std::string>("DebugObserverName",
                                                "DebugObserver",
                                                "Name of the topic the DebugObserver listens on");
        }
    };
 
    /**
         * @class OpenNIPointCloudProvider
         * @ingroup VisionX-Components
         * @brief A brief description
         *
         * Detailed Description
         */
    class OpenNIPointCloudProvider :
        virtual public RGBDPointCloudProviderInterface,
        virtual public CapturingPointCloudProvider,
        virtual public ImageProvider
    {
    public:
        OpenNIPointCloudProvider();
 
        /**
             * @see armarx::ManagedIceObject::getDefaultName()
             */
        std::string
        getDefaultName() const override
        {
            return "OpenNIPointCloudProvider";
        }
 
        std::vector<imrec::ChannelPreferences>
        getImageRecordingChannelPreferences(const Ice::Current&) override;
 
    protected:
        /**
             * @see visionx::PointCloudProviderBase::onInitPointCloudProvider()
             */
        void onInitCapturingPointCloudProvider() override;
 
 
        void onConnectPointCloudProvider() override;
 
        /**
             * @see visionx::PointCloudProviderBase::onExitPointCloudProvider()
             */
        void onExitCapturingPointCloudProvider() override;
 
        /**
             * @see visionx::PointCloudProviderBase::onStartCapture()
             */
        void onStartCapture(float frameRate) override;
 
        /**
             * @see visionx::PointCloudProviderBase::onStopCapture()
             */
        void onStopCapture() override;
 
        /**
             * @see visionx::PointCloudProviderBase::doCapture()
            */
        bool doCapture() override;
 
        /**
             * @see visionx::CapturingImageProvider::onInitImageProvider()
             */
        void onInitImageProvider() override;
 
        /**
             * @see visionx::CapturingImageProvider::onExitImageProvider()
             */
        void
        onExitImageProvider() override
        {
        }
 
        bool
        hasSharedMemorySupport(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return true;
        }
 
        /**
             * @see PropertyUser::createPropertyDefinitions()
             */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        // mixed inherited stuff
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
 
        StereoCalibration getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override;
 
        bool
        getImagesAreUndistorted(const ::Ice::Current& c = Ice::emptyCurrent) override
        {
            return false;
        }
 
        std::string
        getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return getProperty<std::string>("ReferenceFrameName");
        }
 
    private:
        void callbackFunctionForOpenNIGrabberPointCloudWithRGB(
            const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& newCloud);
        void callbackFunctionForOpenNIGrabberPointCloud(
            const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& newCloud);
        void callbackFunctionForOpenNIGrabberImage(const pcl::io::Image::Ptr& newImage);
        void grabImages(const pcl::io::Image::Ptr& RGBImage,
                        const pcl::io::DepthImage::Ptr& depthImage,
                        float reciprocalFocalLength);
        void grabDepthImage(const pcl::io::IRImage::Ptr& RGBImage,
                            const pcl::io::DepthImage::Ptr& depthImage,
                            float x);
 
 
        bool loadCalibrationFile(std::string fileName, visionx::CameraParameters& calibration);
 
        ImageProviderInterfacePrx imageProviderPrx;
        std::string providerName;
        CByteImage** rgbImages;
        int width, height;
        mutable std::mutex syncMutex;
 
        pcl::io::OpenNI2Grabber::Ptr grabberInterface;
        std::condition_variable condition;
        bool newPointCloudCapturingRequested, newImageCapturingRequested;
        long timeOfLastImageCapture, timeOfLastPointCloudCapture;
        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pointcloudBuffer;
        StereoCalibration calibration;
        long captureTimeOffset;
 
        armarx::RobotHealthInterfacePrx robotHealthTopic;
        armarx::DebugObserverInterfacePrx debugObserver;
        IceUtil::Time lastReportTimestamp;
 
        armarx::plugins::HeartbeatComponentPlugin* heartbeatPlugin = nullptr;
    };
} // namespace visionx